Positioning mechanism

ABSTRACT

Disclosed are unmanned aerial vehicle (UAV) positioning mechanisms for moving a UAV across a surface. The positioning mechanisms comprise a first guide assembly arranged opposite to a second guide assembly. A drive system is arranged to move the first guide assembly towards the second guide assembly and guide the UAV from a first position to a second position.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of International Application No.PCT/US2018/050926, filed Sep. 13, 2018, which claims the benefit of U.S.Provisional Application No. 62/558,192, filed Sep. 13, 2017, and claimspriority to GB Application No. GB 1812471.9, filed Jul. 31, 2018, under35 U.S.C. § 119(a). Each of the above-referenced patent applications isincorporated by reference in its entirety.

BACKGROUND OF THE INVENTION Field of the Invention

The present disclosure relates to an unmanned aerial vehicle positioningmechanism.

Description of the Related Technology

Unmanned aerial vehicles (UAVs), such as drones, are autonomous and/orremotely operated aerial vehicles. UAVs may be configured to fly usingfixed wings or rotors and blades. A UAV may be operated by a humanoperator who manually controls the UAV during flight. Some UAVs can flyfully or partially autonomously, for example an onboard or remotecomputing system can control the UAV during take-off, flight towards adestination, and landing. These autonomous UAVs may be controlled byutilizing Global Positioning Systems (GPS) or any such similarnavigation systems.

With both manually and autonomously operated UAV systems it is oftendifficult to accurately land the UAV in a desired location. For example,human inaccuracy, human error, weather conditions and navigation systeminaccuracies may each make it difficult to precisely position the UAVduring landing. Accurate landing may be required in situations where theUAV is used to collect or drop-off a package, undergo maintenance, orundergo a battery swap procedure, for example.

Some existing UAV positioning mechanisms use a moveable arm which sweepsacross a landing surface to move the UAV towards one edge of arectangular landing surface. However, such mechanisms are limited as tohow precisely the UAV can be positioned. Other existing UAV positioningmechanisms have two inclined surfaces set apart by a distance equal thewidth of the UAV landing gear, and the inclined surfaces guide the UAVtowards a position on the landing surface. However, such a mechanismrequires a certain degree of accuracy when landing to ensure the UAV isaligned with the inclined surfaces. Furthermore, this mechanism requiresprior knowledge of the size of the UAV so that the inclined surfaces canbe correctly spaced. Other existing UAV positioning mechanisms arefully-passive in nature and have a conically shaped landing surface, sothat the UAV slides towards the lowest point on the landing surfaceafter landing. While this passive positioning mechanism is simple indesign, the conically shaped landing surface can make interacting withthe UAV impractical once positioned.

Accordingly, there is a need for an improved UAV positioning mechanismwhich overcomes problems with existing UAV positioning mechanisms.

SUMMARY

According to a first aspect of the present disclosure, there is providedan unmanned aerial vehicle (UAV) positioning mechanism for moving a UAVfrom a first position to a third position via a second position,comprising: a first guide assembly comprising a first part having afirst retaining member connected thereto and a second part having asecond retaining member connected thereto. The UAV positioning mechanismfurther comprises a second guide assembly spaced apart from the firstguide assembly, wherein the first and second guide assemblies definetherebetween an area for receiving a UAV. The UAV positioning mechanismfurther comprises a drive system for moving the first guide assembly ina first direction and a second direction. The drive system is arrangedto move the first guide assembly in the first direction towards thesecond guide assembly, such that the first part and the second partguide the UAV from a first position to a second position. The drivesystem is further arranged to move the first guide assembly in thesecond direction to move the UAV from the second position to a thirdposition. The first and second retaining members are arranged to engagethe UAV when the UAV is positioned at the second position such that theUAV moves with the first guide assembly in the second direction to thethird position. The second guide assembly may be spaced apart from thefirst guide assembly along a first axis, and the drive system may bearranged to move the first guide assembly along the first axis in thefirst and second directions.

The UAV positioning mechanism according to this first embodimenttherefore positions the UAV in two steps. For example, a UAV initiallylands in a first unknown position which can be anywhere in the areabetween the first and second guide assemblies. From here, the firstguide assembly moves towards the second guide assembly to abut andpush/guide the UAV towards the second guide assembly. Here the UAV is ina known, second position. For example, the UAV may abut both the firstand second guide assemblies. In this second position, the retainingmembers can accurately engage with the UAV because it is located in aknown position. The retaining members engage the UAV so that the UAV canbe carried with the first guide assembly as it moves in the seconddirection. The first guide assembly thus moves the UAV into a thirdknown position. Moving from the second position to the third positioncan mean that the UAV is moved away from the second guide assembly,moved away from the edges of the area (also known as a landing area), orbe moved onto a moveable platform.

In one arrangement, as the first guide assembly moves in the seconddirection, it moves away from the second guide assembly. Therefore, insome configurations, the second guide assembly is static in that it doesnot move in the first direction or the second direction. This means thatthe overall complexity of the positioning mechanism can be reduced. Inanother arrangement however, the second guide assembly also moves in thesecond direction. This can aid movement of the UAV towards the thirdposition, which may be helpful if the UAV is particularly heavy.

The first part and second parts may be separate components in someexamples. In other examples, the first and second parts are unitary.

In an example, the first guide assembly comprises a movable support. Thefirst part may have a first end and a second end, and the first end ofthe first part is mounted on the movable support. Similarly, the secondpart may have a first end and a second end, and the first end of thesecond part is mounted on the movable support. The drive system isarranged to move the second ends of the first and second parts towardsthe second guide assembly and move the moveable support towards thesecond guide assembly.

Such a construction means that the first and second parts are moveablewith respect to each other and with respect to the moveable support tomore precisely guide the UAV from the first position to the secondposition. For example, as the second ends of the first and second partsmove towards the second guide assembly an angle subtended between thefirst and second parts may decrease. This can help “funnel” or guide theUAV along the length of the first and/or second part towards a certainlocation along the length of the moveable support, therefore assistingto position the UAV into the second position.

In one particular arrangement, the first ends of the first and secondparts are pivotably mounted on the moveable support, and the drivesystem comprises a first actuator arranged to pivot the second end ofthe first part towards the second guide assembly and a second actuatorarranged to pivot the second end of the second part towards the secondguide assembly.

The movement is therefore a rotation caused by actuators which allowsthe second ends of the first and second parts to rotate towards eachother. For example, the first and second parts may rotate from a firstarrangement in which they are substantially parallel to the moveablesupport to a second arrangement in which an angle is subtended betweenthe first part and the moveable support and the second part and themovable support. In the second arrangement the first and second partsmay form a “V” or “U” shape extending outwards from the moveablesupport, which guides the UAV towards the moveable support.

The retaining members may engage the UAV in a variety of ways. Forexample, the retaining members may be engaged by components on the UAV.In other examples, the drive system is arranged to cause the retainingmembers to move such that they positively engage the UAV. In a specificexample, the retaining members are electromagnets and are activated bythe drive system to attract/engage magnetic material on or surroundingthe UAV. In other examples, the retaining members interlock withcorresponding components on the UAV or they grip one or more surfaces ofthe UAV.

Preferably, the first retaining member is pivotably mounted on the firstpart, and the second retaining member is pivotably mounted on the secondpart, and the drive system is arranged to pivot the first and secondretaining members between a first configuration and a secondconfiguration. In the first configuration, the first and secondretaining members are arranged substantially parallel to the first andsecond parts, respectively. In the second configuration the first andsecond retaining members engage the UAV. In the second configuration,the first and second retaining members may therefore define an anglebetween the first and second parts, respectively. For example, the firstand second retaining members may each rotate away from the first andsecond parts by 90 degrees to engage and grip an outer surface of theUAV. In the first configuration the first and second retaining membersmay be parallel and therefore flush with the first and second parts, sothat the UAV can be easily guided along the length of the first andsecond parts.

The pivoting/rotational movement of the first and second retainingmembers may be controlled by one or more actuators. For example, thedrive system may comprise a third actuator arranged to pivot the firstretaining member between the first configuration and the secondconfiguration and a fourth actuator arranged to pivot the secondretaining member between the first configuration and the secondconfiguration.

In some arrangements the first guide assembly comprises first and secondportions connected to the first and second parts, respectively, via oneor more hinges. In these arrangements, the first part is connected to afirst portion by a hinge, and the second part is connected to a secondportion via another hinge. The first and second portions are arranged tohinge (i.e. pivot about the hinge) as the second ends of the first andsecond parts move towards the second guide assembly. For example, as thesecond ends of the first and second parts move/pivot towards the secondguide assembly, the first and second portions pivot about theirrespective hinges.

By having two or more sections hinged together in this way, the areaoccupied by the positioning mechanism when not in use can be reducedbecause these sections can be “folded” when the positioning mechanism isnot being used.

Preferably, the first guide assembly further comprises a first guiderail and a second guide rail arranged substantially parallel to, andspaced apart from, the first guide rail. An end of the first portion isslidably mounted on the first guide rail, such that the first portionmoves along the first guide rail as the drive system moves the firstguide assembly in the first and second directions. Similarly, an end ofthe second portion is slidably mounted on the second guide rail, suchthat the second portion moves along the second guide rail as the drivesystem moves the first guide assembly in the first and seconddirections. When the first guide assembly does not have the first andsecond portions, the second ends of the first and second parts mayinstead by slidably mounted on the guide rails.

It will be appreciated from the foregoing that the guide railseffectively define the width of the area within which the UAV ispositioned and constrain/control movement of the first guide assemblyacross the area.

In certain arrangements the second guide assembly is substantiallysimilar to the first guide assembly, and may therefore comprise any orall of the components described above in relation to the first guideassembly.

For example, the second guide assembly may comprise a second support, athird part and a fourth part, and the third and fourth parts arearranged to guide the UAV towards the second position. The third parthas a first end and a second end, and the first end of the third part ismounted on the second support. The fourth part has a first end and asecond end, and the first end of the fourth part is mounted on thesecond support. The drive system is arranged to move the second ends ofthe third and fourth parts towards the first guide assembly. As for thefirst and second parts, the movement of the third and fourth parts helpalign and guide the UAV towards the second position. In one arrangement,the second support is a static support, and does not move in the firstor second direction. In other arrangements, the second support is amoveable support and can move in the first and second directions.

Preferably, the first ends of the third and fourth parts are pivotablymounted on the second support, and the drive system comprises a thirdactuator arranged to pivot the second end of the third part towards thefirst guide assembly and a fourth actuator arranged to pivot the secondend of the fourth part towards the first guide assembly.

In one embodiment, the first and second guide assemblies are verticallyoffset from each other so that the first/second guide assembly can moveabove/below the other guide assembly. This arrangement allows moreefficient use of space when positioning the UAV within the landing areabecause each of the first and second guide assemblies can move closertogether without having to accommodate the physical space taken up bythe other guide assembly when moving across the landing area.

For example, in some arrangements, the second guide assembly is spacedapart from the first guide assembly along a first axis and the areaextends along at least the first axis and a second axis, the second axisbeing perpendicular to the first axis. The first guide assembly isspaced apart from the second guide assembly along a third axis, thethird axis being perpendicular to both the first axis and the secondaxis. When the drive system moves the first guide assembly in the firstdirection towards the second guide assembly, the first part is spacedapart from the third part along the third axis and the second part isspaced apart from the fourth part along the third axis when the UAV islocated at the second position. For example, the landing area may besubstantially horizontally orientated, so that the third axis issubstantially vertical. Therefore, “spaced apart along the third axis”means that the components are vertically offset. This arrangement meansthat components of the first and second guide assemblies cross-over eachother as the move towards each other.

In one example, the second guide assembly further comprises third andfourth portions connected to the third and fourth parts respectively viaone or more hinges, wherein the third and fourth portions are arrangedto hinge as the second ends of the third and fourth parts move towardsthe first guide assembly. Again, these hinged components allow thepositioning mechanism to be effective in a smaller area.

In some examples, the positioning mechanism is arranged upon, affixableto, or comprises a surface for receiving the UAV. The surface may alsobe known as a landing surface. The surface extends between the first andsecond guide assemblies and therefore at least partially defines thearea upon which the UAV may land and/or be positioned. The landingsurface, or a portion of the surface, may be moveable and form anelevator platform to move the UAV below the positioning mechanismand/or, when the elevator platform comprises a portion of the surface,below the remainder of the landing surface. For example, the UAV may belowered within a container upon which the positioning mechanism islocated. The UAV may be stored within the container, may collect/deposita payload, and/or may undergo a battery charging/swap procedure. Themoveable platform may be lowered once the UAV has been positioned on theplatform and raised before the UAV takes flight again.

Accordingly, the UAV positioning mechanism may further comprise amoveable platform capable of forming at least part of a surface forreceiving the UAV, wherein the first and second positions are positionson the surface, and the third position is a position on the platform.The drive system is arranged to lower the platform along an axisarranged perpendicular to a plane defined by the platform, thereby tolower the UAV with respect to the surface. The axis may be the third,vertical axis, for example.

In certain arrangements, the platform delimits an aperture through whichto receive or deposit a payload. A payload may be a battery, or apackage, for example. The aperture may be arranged below the UAV whenthe UAV is positioned on the moveable platform, and thus may be sized toallow a payload to pass through. The aperture may therefore be largeenough to receive/deposit a payload, but be small enough to ensure thatthe UAV does not fall through the aperture.

Preferably, the aperture is closable, and may be embodied as at leastone member in the moveable platform, in which case the drive system maybe arranged to move the at least one member between a closedconfiguration and an open configuration. In the closed configuration,the at least one member is positioned to close the aperture to form partof the surface and in the open configuration, the at least one member ispositioned so as not to obstruct the aperture. In effect the membercloses the aperture when not in use. This can be advantageous to protectthe area below the positioning mechanism, such as the interior of thecontainer, from bad weather, and also stops animals and humans fromgaining access.

In one example, the drive system is arranged to move the first andsecond guide assemblies away from each other before lowering theplatform. This avoids the rotor blades of the UAV colliding with theguide assemblies as the UAV is moved downwards.

The above described a first embodiment of a positioning mechanism inwhich the UAV is moved in a two-step process and where only once guideassembly is required to move along an axis. A second embodiment will nowbe described in which a one-step movement occurs where both of the firstand second guide assemblies move towards each other.

In this embodiment the positioning mechanism can be referred to as a UAVtransport mechanism, which comprises a moveable platform capable offorming at least part of the landing surface, a first guide assembly anda second guide assembly. The first and second guide assemblies arearranged on opposite sides of the moveable platform. The UAV transportmechanism further comprises a drive system arranged to move the firstand second guide assemblies towards each other, thereby to guide the UAVfrom a first, landing, position to a second, lowering, position, thesecond position being a position on the platform. The drive system isfurther arranged to lower the platform to lower the UAV with respect tothe landing surface.

The UAV transport mechanism according to this second embodimenttherefore positions the UAV along the landing surface in a single step.For example, a UAV initially lands in a first unknown position (alsoknown as the landing position) which can be anywhere in the area betweenthe first and second guide assemblies. From here, the first and secondguide assemblies move towards each other to abut and push/guide the UAVtowards a moveable platform. Here the UAV is in a known, second position(also known as the lowering position). For example, the UAV may abutboth the first and second guide assemblies. When located in this secondposition, the moveable platform can be lowered (i.e. moved along avertical axis) to move the UAV below the landing surface. The UAV may bemoved into a container arranged below the landing surface.

The UAV transport mechanism may comprise any or all of the features andcomponents described in relation to the first embodiment. Similarly, anyof the features described in relation to the second embodiment may alsobe incorporated into the first embodiment.

For example, the platform may delimit an aperture through which toreceive or deposit a payload, and the aperture may be closable.

In certain arrangements, the drive system is arranged to move the firstand second guide assemblies away from each other before lowering theplatform. For example, the first guide assembly may move in the seconddirection, away from the movable platform, and the second guide assemblymay move in the first direction, away from the moveable platform.

In some examples the landing surface comprises a fixed surface part, andthe platform has a flat upper surface, which is positionable to begenerally coplanar with respect to the fixed surface part. As a resultthe platform forms part of the landing surface. For example, theplatform may be arranged generally centrally within the landing surfaceso that the fixed surface part surrounds the platform. The fixed surfacepart may be stationary, which is to say that it is not moveable along avertical axis.

In one arrangement, the first guide assembly comprises a first moveablesupport, and a first part having a first end and a second end, the firstend of the first part being mounted on the first moveable support. Thefirst guide assembly further comprises a second part having a first endand a second end, the first end of the second part being mounted on thefirst moveable support. The second guide assembly comprises a secondmoveable support and a third part having a first end and a second end,the first end of the third part being mounted on the second moveablesupport. The second guide assembly further comprises a fourth parthaving a first end and a second end, the first end of the fourth partbeing mounted on the second moveable support. The drive system isfurther arranged to move the second ends of the first and second partstowards the second guide assembly and move the second ends of the thirdand fourth parts towards the first guide assembly.

Preferably the first ends of the first and second parts are pivotablymounted on the first moveable support, and the first ends of the thirdand fourth parts are pivotably mounted on the second moveable support,and the drive system comprises one or more actuators arranged to pivotthe second ends of the first and second parts towards the second guideassembly and to pivot the second ends of the third and fourth partstowards the first guide assembly.

In some examples the UAV transport mechanism further comprises first,second, third and fourth portions connected to the first, second, thirdand fourth parts respectively via one or more hinges, wherein the firstand second portions are arranged to hinge as the second ends of thefirst and second parts move towards the second guide assembly andwherein the third and fourth portions are arranged to hinge as thesecond ends of the third and fourth parts move towards the first guideassembly.

In an arrangement, the first guide assembly further comprises a firstguide rail and a second guide rail arranged substantially parallel to,and spaced apart from the first guide rail. An end of the first portionis slidably mounted on the first guide rail, such that the first portionmoves along the first guide rail as the drive system moves the firstguide assembly towards the second guide assembly and an end of thesecond portion is slidably mounted on the second guide rail, such thatthe second portion moves along the second guide rail as the drive systemmoves the first guide assembly towards the second guide assembly.

Similarly, the second guide assembly further comprises a third guiderail arranged substantially parallel to the first guide rail and afourth guide rail arranged substantially parallel to, and spaced apartfrom the third guide rail. The third guide rail is spaced apart from thefirst guide rail along an axis arranged perpendicular to a plane definedby the platform and the fourth guide rail is spaced apart from thesecond guide rail along the axis. An end of the third portion isslidably mounted on the third guide rail, such that the third portionmoves along the third guide rail as the drive system moves the secondguide assembly towards the first guide assembly and an end of the fourthportion is slidably mounted on the fourth guide rail, such that thefourth portion moves along the fourth guide rail as the drive systemmoves the second guide assembly towards the first guide assembly. Thismeans that the first guide rail is arranged above/below the third guiderail and that the second guide rail is arranged above/below the fourthguide rail. This arrangement allows the first and second guideassemblies to cross-over as they move towards each other.

A third embodiment will now be described in which another one-stepmovement occurs; however unlike the second embodiment, only one guideassembly may move towards the other.

In this embodiment the positioning mechanism for moving a UAV across asurface comprises a surface for receiving a UAV, wherein at least aportion of the surface delimits an aperture through which to receive ordeposit a payload, a first guide assembly, a second guide assembly,wherein the first and second guide assemblies are arranged on oppositesides of the aperture, and a drive system. The drive system is arrangedto move the first guide assembly towards the second guide assembly,thereby to guide the UAV from a first position to a second position, thesecond position being a position arranged above the aperture.

As for the second embodiment, the UAV positioning mechanism according tothis third embodiment positions the UAV along the surface in a singlestep. For example, a UAV initially is placed or lands in a first unknownposition which can be anywhere in the area between the first and secondguide assemblies. Unlike in the second embodiment, the first guideassembly moves towards the second guide assembly to abut and push/guidethe UAV towards an aperture in the surface (it will be recalled that inthe second embodiment the UAV is guided towards a moveable platform).Here the UAV is in a known, second position, with respect to theaperture. When located in this second position, the aperture can beopened (if not already open) and the UAV may deposit or receive apayload (such as a package or battery) through the aperture. Thepositioning mechanism may be arranged on top of a container or within acontainer, for example.

The UAV positioning mechanism according to the third embodiment maycomprise any or all of the features and components described in relationto the first and second embodiment.

Further features and advantages of the disclosure will become apparentfrom the following description of preferred embodiments of thedisclosure, given by way of example only, which is made with referenceto the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an unmanned aerial vehiclepositioning/transport mechanism in accordance with an example;

FIGS. 2-7 are plan views of a UAV being moved across a surface by apositioning mechanism at various stages in the process in accordancewith a first embodiment;

FIGS. 8-11 are plan views of a UAV being moved across a surface by apositioning mechanism at various stages in the process in accordancewith a second embodiment;

FIGS. 12-13 are plan views of a UAV being moved across a surface by apositioning mechanism at various stages in the process in accordancewith a third embodiment;

FIG. 14 is a perspective view of a UAV port in accordance with anexample;

FIG. 15 is a side view of a UAV located on a moveable platform inaccordance with an example; and

FIG. 16 is a side view of a UAV having been moved inside a container bylowering the moveable platform of FIG. 15.

DETAILED DESCRIPTION OF CERTAIN INVENTIVE EMBODIMENTS

Disclosed are a variety of UAV positioning/transport mechanisms formoving a UAV across a surface to ensure that the UAV is preciselypositioned. FIG. 1 depicts a UAV positioning/transport mechanismcomprising a guide assembly arrangement which moves across the surfaceto position the UAV. FIGS. 2-7 depict the operation of the UAVpositioning/transport mechanism of FIG. 1 in accordance with a firstembodiment. FIGS. 8-11 depict the operation of the UAVpositioning/transport mechanism of FIG. 1 in accordance with a secondembodiment. FIGS. 12-13 depict the operation of the UAVpositioning/transport mechanism of FIG. 1 in accordance with a thirdembodiment.

The UAV positioning mechanism 100 may also be known as a transportmechanism. The components of the positioning mechanism 100 are used tomove and position a UAV across a surface (not shown in FIG. 1) after theUAV has landed or been placed upon the surface. A drive system, whichmay include a controller such as a processor, controls operation of thepositioning mechanism 100 to position the UAV.

In the example of FIG. 1, the positioning mechanism 100 comprises afirst guide assembly and a second guide assembly spaced apart from thefirst guide assembly. The first guide assembly comprises a first part102, a second part 104 and a first support 106. Similarly, the secondguide assembly comprises a third part 108, a fourth part 110 and asecond support 112. In some embodiments the first support 106 is amoveable support, and it moves along a first axis 114 in both a firstdirection towards the second guide assembly and in a second directionaway from the second guide assembly. In some embodiments the secondsupport 112 is a moveable support, and also moves along the first axis114. In other embodiments however, the second support 112 remainsstationary and does not move along the first axis 114.

The positioning mechanism 100 may further comprise a drive systemarranged to move either or both of the first and second guideassemblies. For example, the drive system may comprise a number ofactuators, motors, gears, pistons, and such like, to move any componentof the positioning mechanism 100. The drive system may also comprise alocally or remotely located controller 116, such a processor, whichinstructs and controls the movement of the positioning mechanism 100.The controller 116 of the drive system is depicted at one end of thepositioning mechanism 100, and since the controller 116 controlsoperation of the drive system, it may represent the drive system itselffor illustrative purposes.

As mentioned, the drive system may be arranged to move the first guideassembly in the first and second directions. The first direction isrepresented by an arrow “A” and the second direction is represented byan arrow “B”. For example, the drive system may cause the first support106 to move in the first and second directions by operating one or moreof a motor, actuator or piston to cause the first support 106 to move.Similarly, in embodiments where the second guide assembly also moves,the drive system may be arranged to move the second guide assembly inthe first and second directions. For example, the drive system may causethe second support 112 to move.

In FIG. 1, the positioning mechanism 100 is depicted without a landingsurface, and the first and second guide assemblies define an areabetween them within which the UAV may be moved. However, it will beappreciated that the depicted area represents a suitable surface uponwhich the UAV may land or be placed, and over which the UAV isthereafter moved by the positioning mechanism 100. In some examples thepositioning mechanism 100 may itself comprise the surface.

In the example of FIG. 1, the first part 102 and the second part 104 areseparate components and are mounted onto the first support 106. Howeverin other examples, the first and second parts 102, 104 may be parts of asingle entity which is mounted onto the first support 106. The same maybe said of the third and fourth parts 108, 110.

In some embodiments the first, second, third and fourth parts 102, 104,108, 110 are permanently fixed in the positions depicted in FIG. 1, i.e.an angle is subtended between the first and second supports 106, 112 andtheir respective parts. However, preferably, the parts are moveable withrespect to the first and second supports 106, 112.

In FIG. 1, the first part 102 has a first end 102 a and a second end 102b, and the first end 102 a is mounted on the first support 106. Forexample, the first end 102 a may be pivotably mounted on the firstsupport 106. This allows the first part 102 to rotate with respect tothe first support 106. Accordingly, the first part 102 can pivot in aplane defined by the first axis 114 and a second axis 116 arrangedperpendicular to the first axis 114. This rotation means that the secondend 102 b moves towards the second guide assembly as it rotates awayfrom the first support 106. The first end 102 a does not move away fromthe first support 106 as it is fixed by the pivot. Similarly, the secondpart 104 has a first end 104 a and a second end 104 b, and the first end104 a is mounted on the first support 106. For example, the first end104 a may be pivotably mounted on the first support 104 by the same or adifferent pivot. This too allows the first part 104 to rotate withrespect to the first support 106.

The third part 108 and the fourth part 110 may operate in a similarmanner For example, the third part 108 has a first end 108 a and asecond end 108 b, and the first end 108 a is mounted on the secondsupport 112. For example, the first end 108 a may be pivotably mountedon the second support 112 by a pivot. Again, this allows the third part108 to rotate with respect to the second support 112. This rotationmeans that the second end 108 b moves towards the first guide assemblyas it rotates away from the second support 112. Similarly, the fourthpart 110 has a first end 110 a and a second end 110 b, and the first end110 a is mounted on the second support 112. For example, the first end110 a may be pivotably mounted on the second support 110 by the same ordifferent pivot.

The above movement/rotation can be effectuated by one or more motors,pistons and/or actuators which are part of the drive system. In FIG. 1,four actuators 118 are depicted, two mounted on each of the first andsecond supports 106, 112. The actuators 118 therefore control rotationof the first, second, third and fourth parts 102, 104, 108, 110.

In some examples, the first part 102 may be connected to a first portion120 via a hinge. For example, the second end 102 b of the first part 102may be connected to the hinge. The first part 102 may therefore pivotwith respect to the first portion 120. The second part 104 may also beconnected to a second portion 122 via a hinge. For example, the secondend 104 b of the second part 104 may be connected to the hinge. Thesecond part 104 may therefore also pivot with respect to the secondportion 122. Similarly, the third part 108 may be connected to a thirdportion 124 via a hinge and the fourth part 110 may also be connected toa fourth portion 126 via a hinge.

The first part 102 and the first portion 120 may collectively define,and be referred to, as a first arm. Similarly, the second part 104 andthe second portion 122 may collectively define, and be referred to, as asecond arm; the third part 108 and the third portion 124 maycollectively define, and be referred to, as a third arm; and the fourthpart 110 and the fourth portion 126 may collectively define, and bereferred to, as a fourth arm. These hinged portions allow the arms tobend and fold into a more compact space while retaining a lengthsufficient to span across the width of the surface when angled withrespect to the supports 106, 112.

FIG. 1 also depicts four guide rails 128, 130, 132, 134 along which endsof the first, second, third and fourth portions 120, 122, 124, 126 canmove. More particularly, the first guide assembly comprises a firstguide rail 128, and a second guide rail 130 arranged substantiallyparallel to and spaced apart from the first guide rail 128. In FIG. 1the guide rails are substantially straight and are aligned with thefirst axis 114; however the guide rails may be curved and/or arranged atangle with respect to the first axis 114. The first guide rail 128 islocated on an inner surface of a chassis of the UAV positioningmechanism and is therefore obscured from view. The second guide rail 130is more clearly depicted on the opposite side of the chassis. As can beseen, an end of the second portion 122 is slidably mounted on the secondguide rail 130 which allows the second portion 122 to move along thesecond guide rail 130 as the first guide assembly (i.e. the firstsupport 106) moves along the first axis 114. In embodiments where thesecond arm comprises only the second part 104 (i.e. the second portion122 is omitted), the second end 104 b of the second part 104 b mayinstead be slidably mounted on the second guide rail 130. In the sameway, an end of the first portion 120 is slidably mounted on the firstguide rail 128 or the second end 102 b of the first part 102 may insteadby mounted on the first guide rail 128.

The second guide assembly may further comprise a third guide rail 132,and a fourth guide rail 134 arranged substantially parallel to andspaced apart from the third guide rail 132. The third guide rail 132 maytherefore be parallel to the first guide rail 128 and the fourth guiderail 134 may be parallel to the second guide rail 130. In FIG. 1, thefirst and third guide rails 128, 132 are spaced apart from each otheralong a third axis 136, which is arranged perpendicular to both thefirst and second axes 114, 116. Similarly, the fourth guide rail 134 isspaced apart from the second guide rail 130 along the third axis 136.When the landing surface is substantially horizontal the third axis 136may therefore be aligned substantially vertically meaning that the firstand third guide rails 128, 132 are arranged at different heights to eachother, and that the second and fourth guide rails 130, 134 are arrangedat different heights to each other. This allows the first guide assemblyto move above or below, and therefore cross-over the second guideassembly. FIG. 1 shows the first guide assembly being arranged above thesecond guide assembly; however in other examples the second guideassembly may be arranged above the first guide assembly.

In some examples, the first and/or second supports 106, 112 are alsomoveably mounted on the guide rails. For example, one end of the firstsupport 106 may mounted on the first guide rail 128 and another end ofthe first support 106 may be mounted on the second guide rail 130. Inembodiments where the second support 112 also moves, one end of thesecond support 112 may mounted on the third guide rail 132 and anotherend of the second support 112 may be mounted on the fourth guide rail134. In other embodiments, separate/additional guide rails may be used.By mounting the first and/or second supports 106, 112 on the guiderails, the supports can move along the first axis 114.

In certain embodiments, such as the first embodiment described below,the first part 106 has a first retaining member 138 connected theretoand the second part has a second retaining member 140 connected thereto.In other embodiments, such as the second and third embodiments describedbelow, the retaining members may be omitted. The first and secondretaining members 138, 140 are arranged to engage a UAV such that theUAV moves with the first guide assembly as it moves along the first axis114. The retaining members 138, 140 depicted in FIG. 1 are moveablebetween a first configuration and a second configuration. In the firstconfiguration, the first and second retaining members 138, 140 arearranged substantially parallel to the first and second parts 102, 104,respectively. In the second configuration, the first and secondretaining members 138, 140 extend from and define an angle between thefirst and second parts 102, 104, respectively. FIG. 1 shows theretaining members 138, 140 in the second configuration as they have beenrotated/pivoted away from the first and second parts 102, 104. The firstand second retaining members 138, 140 may therefore be pivotably mountedon the first and second parts 102, 104 respectively. Two actuators 142,144, which are part of the drive system, control the pivoting motion ofthe retaining members 138, 140 between the first and secondconfigurations.

The positioning mechanism 100 in FIG. 1 may be constructed fully orpartially from any suitably rigid or semi-rigid material that is capableof withstanding impact with the UAV and moving the UAV. For example, thecomponents may be constructed from metal, plastic, and/or wood.

FIGS. 2-7 relate to a first operational embodiment of the positioningmechanism of FIG. 1. FIG. 2 depicts a positioning mechanism 100 arrangedupon a surface 202, which may also be known as a landing surface. Inthis example, the surface 202 is modular, and comprises a fixed surfacepart 202 a and a moveable platform 202 b (depicted with shading). Themoveable platform 202 b has a substantially flat upper surface and iscoplanar with the fixed surface part 202 a in this position. Themoveable platform 202 b may delimit an aperture 204 through which apayload may be collected or deposited. In some cases it is desirable toposition a UAV 200 so that it is arranged on the moveable platform 202 band/or arranged above the aperture 204. The aperture 204 may becloseable. For example, one or more members may be moved to close theaperture 204.

FIG. 2 depicts the positioning mechanism 100 at a first moment in time.At this time, a UAV 200 has landed, or otherwise been placed upon thesurface 202 in an area between the first and second guide assemblies.The UAV 200 may therefore be said to be initially located in a firstposition. As can be seen, the first and second guide assemblies are inan initial, folded, configuration which maximizes the area within whichthe UAV 200 can land. In this initial folded configuration, the firstpart 102 and the second part 104 are arranged generally parallel to thefirst support 106. The first and second parts 102, 104 are sized to beapproximately half of the length of the first support 106. As describedabove, the first end 102 a of the first part 102 is pivotably mounted onthe first support 106. Similarly, the first end 104 a of the second part104 is pivotably mounted on the first support 106. For example, thefirst and second parts 102, 104 are indirectly connected to the firstsupport 106 by a connector 206. As was described above, a first portion120 is pivotably connected to the first part 102 at the second end 102b, and a second portion 122 is pivotably connected to the second part104 at the second end 104 b. In this initial folded configuration, thefirst portion 120 is arranged generally perpendicular to the first part102 while being mounted on the first guide rail 128, and the secondportion 122 is arranged generally perpendicular to the second part 104while being mounted on the second guide rail 130.

In some examples, the positioning mechanism 100 comprises one or moresensors (not shown) which detect the presence of the UAV 200 on, ornear, the surface 202. For example, pressure sensors in the surface, ormovement sensors located near the positioning mechanism 100 may detectthat the UAV 200 has landed or is about to land. In another example, theUAV 200 may wirelessly transmit a message which is directly orindirectly received by the positioning mechanism 100 which informs thepositioning mechanism 100 that the UAV 200 has landed or is about toland. For example, the controller 116 may receive data which informs thecontroller 116 that a UAV 200 requires positioning. In other examples,the positioning mechanism may operate in response to an instruction froma human operator.

Once the positioning mechanism 100 has detected the presence of the UAV200 or has otherwise been instructed to begin operating, the positioningmechanism 100 may begin to execute a procedure to move the UAV 200 fromthe first position to a third position via a second position.

FIG. 3 depicts the positioning mechanism 100 at a second, later momentin time. At this time, the UAV 200 is located in the first position andthe positioning mechanism 100 has started to execute a positioningprocedure to relocate the UAV 200.

As can be seen, the first and second guide assemblies have begun tounfold. To unfold, the drive system has caused the second ends 102 b,104 b of the first and second parts 102, 104 to move towards the secondguide assembly by causing the parts to rotate away from the firstsupport 106. This step may be executed before, during or after movementof the first support 106 in the first direction towards the second guideassembly. Similarly, the drive system has caused the second ends 108 b,110 b of the third and fourth parts 108, 110 to move towards the firstguide assembly by causing the parts to rotate away from the secondsupport 112. These rotational movements may be effectuated by one ormore actuators 118 (not shown in FIG. 3) or by any other means.

Causing the first, second, third and fourth parts 102, 104, 108, 110 torotate away from the first and second supports 106, 112 causes therespective first, second, third and fourth portions 120, 122, 124, 126to hinge/pivot and slide along the guide rails 128, 130, 132, 134.Alternatively, the drive system may actively cause these portions toslide along the guide rails as the first, second, third and fourth parts102, 104, 108, 110 rotate away from the first and second supports 106,112. This initial rotation causes the area between the first and secondguide assemblies to reduce in size.

Thus, in the configuration depicted in FIG. 3, the first part 102 andthe second part 104 are no longer arranged parallel to the first support106. Instead, they have rotated away from the first support 106 todefine an angle therebetween. The first arm and the second arm havetherefore begun to straighten out. Similarly, the third part 108 and thefourth part 110 are no longer arranged parallel to the second support112. Instead, they have rotated away from the second support 112 todefine an angle therebetween. The third arm and the fourth arm havetherefore also begun to straighten out. The unfolding of the arms mayoccur in unison, or in sequence.

FIG. 4 depicts the positioning mechanism 100 at a third, later moment intime. At this time, the UAV 200 is still located in the first position.

As can be seen, the first and second guide assemblies have now fullyunfolded. The first, second, third and fourth arms have therefore fullystraightened out. By straightening out, the first part 102 and the firstportion 120 are substantially parallel. Similarly, the second part 104and the second portion 122, the third part 108 and the third portion124, and the fourth part 110 and the fourth portion 126 are alsosubstantially parallel. To fully unfold, the drive system has furthercaused the second ends 102 b, 104 b of the first and second parts 102,104 to move towards the second guide assembly by causing the parts torotate away from the first support 106. Similarly, the drive system hasfurther caused the second ends 108 b, 110 b of the third and fourthparts 108, 110 to move towards the first guide assembly by causing theparts to rotate away from the second support 112. This further rotationcauses the area between the first and second guide assemblies tocontinue to reduce in size.

FIG. 5 depicts the positioning mechanism 100 at a fourth, later momentin time. As can be seen, the drive system has begun to move the firstguide assembly in the first direction towards the second guide assemblyby causing the first, moveable support 106 to move along the first axis114 in the first direction towards the second guide assembly.

As previously mentioned, the vertical offset of the guide rails 128,130, 132, 134 allows the first guide assembly to pass above/below thesecond guide assembly. FIG. 5 shows the first part 102 having crossedover the third part 108 and the second part 104 having crossed over thefourth part 110.

In the position shown in FIG. 5, the first guide assembly has abuttedthrough direct contact with the UAV 200. The angled nature of the firstand second parts 102, 104 and the movement in the first directionfunnels or guides the UAV 200 towards the center of the first support106. This guiding occurs when the UAV is not positioned centrally uponthe surface 202 as measured along the second axis 116. The angled natureand combined movement in the first direction also causes the UAV 200 torotate so that the surfaces of the body of the UAV are aligned with thefirst and second parts 102, 104. It should be noted however thatrotation may not necessarily occur if the body of the UAV 200 is e.g. ofa circular cross section. FIG. 5 therefore shows the UAV 200 in aslightly different position to that shown in FIGS. 2-4 because the UAV200 has contacted the first guide assembly and has begun its trajectorytowards a second, intermediate position depicted in FIG. 6.

FIG. 6 depicts the positioning mechanism 100 at a fifth, later moment intime. As can be seen, the first guide assembly has moved as far as itcan in the first direction. Further movement is restricted by the UAV200 and/or the size constraints of the positioning mechanism 100. TheUAV 200 may therefore be said to be located in a second position.Regardless of where on the surface 202 the UAV 200 was locatedinitially, the second position will always be the same. The secondposition is therefore a known position because it is constant for eachpositioning event.

In this second position, the UAV 200 abuts both the first and secondguide assemblies. In some examples, the first support 106 (and thereforethe first guide assembly) stops moving in the first direction when thefirst or second arms reach the end of the first and second guide rails128, 130 respectively. In some examples, the drive system activelycauses the first guide assembly to stop moving. For example, the drivesystem may be configured to stop once it has moved the first guideassembly by a certain distance, or it may stop the movement in responseto a signal. For example, one or more sensors may detect that the UAV200 has been moved into the second position and based on sensor data,the drive system may stop the movement.

Once in this second position, the first and second retaining members138, 140 are caused to engage the UAV 200. In FIGS. 2-5, the retainingmembers 138, 140 are obscured from view because they are arranged to becoplanar with inner surfaces of the first and second parts 102, 104respectively. In the example of FIG. 6, the retaining members 138, 140have partially pivoted away from the first and second parts 102, 104towards the UAV 200. The drive system can initiate this procedure oncethe UAV 200 is positioned in the second position. The retaining members138, 140 are configured to rotate outwards until they contact and engagethe UAV 200. The retaining members may be constructed of the same ordifferent material to that of the first and second parts 102, 104. Insome examples, additional grip is provided by a gripping surface locatedon the retaining members 138, 140. The gripping surface may compriserubber for example, and provides frictional contact with and to ensurethat the UAV 200 will move with the first guide assembly. In someexamples the retaining members 138, 140 do not pivot and rotate outwardsfrom the first and second parts 102, 104. Instead, they may extend andretract out of a surface of the first and second parts 102, 104 in e.g.a telescopic manner In some examples the retaining members 138, 140 mayprotrude outwards to engage corresponding recesses located on the outersurface of the UAV 200. Alternatively, the retaining members 138, 140may themselves be recesses and corresponding protruding members on theUAV may engage the recesses. It will therefore be appreciated that theretaining members 138, 140 depicted may take any suitable form. Onceengaged, the UAV 200 may be moved from this second, intermediateposition, to a third position.

FIG. 7 depicts the positioning mechanism 100 at a sixth, later moment intime. As can be seen, the first guide assembly has moved in the seconddirection and away from the second guide assembly. The first and secondretaining members 138, 140 have fully rotated and engaged the UAV 200,such that the UAV 200 moves with the first guide assembly in the seconddirection towards a third position. In FIG. 7, the third position islocated generally centrally upon the landing surface 202, however thethird position may be anywhere upon the surface 202 as is required.Because the UAV 200 is being carried with the first guide assembly, andthe first guide assembly can be controlled to stop precisely in anylocation, the third position is therefore also a known position.

To move the UAV 200 into this third position, the drive system has movedthe first support 106 (and therefore the first guide assembly) in thesecond direction. In some examples, the first support 106 (and thereforethe first guide assembly) stops moving in the second direction when thedrive system actively causes the first guide assembly to stop moving.For example, the drive system may be configured to stop once it hasmoved the first guide assembly by a certain distance, or it may stop themovement in response to a signal. For example, one or more sensors maydetect that the UAV 200 has been moved into the third position and basedon sensor data, the drive system may stop the movement.

As mentioned, in some examples, the surface 202 may comprise a moveableplatform 202 b forming part of the surface 202. In such examples, thethird position may be located on the platform 202 b. FIG. 7 shows thethird position located towards the center of the moveable platform 202 bwhich ensures the rotors of the UAV 200 do not collide with the fixedsurface portion 202 a of the surface when the platform 202 b moves to aposition below the rest of the surface (i.e. below the fixed surfaceportion 202 a).

Once located in the third position, the first and second retainingmembers 138, 140 may be configured to disengage the UAV and the firstand second guide assemblies may be configured to return to theiroriginal starting positions (i.e. that which is depicted in FIG. 2).Thus, the first guide assembly may move away from the UAV in the seconddirection. This can prepare the positioning mechanism for a subsequentpositioning procedure and/or ensure that the first and second guideassemblies to not obstruct the rotor blades of the UAV 200 as themoveable platform 202 b is lowered.

Once located in the third position, the drive system can be arranged tolower the platform 202 b along an axis arranged perpendicular to a planedefined by the platform 202 b (i.e. along the third axis 116), therebyto lower the UAV 200 with respect to the surface 202.

FIGS. 8-11 relate to a second operational embodiment of the positioningmechanism of FIG. 1. In this second embodiment, both the first andsecond guide assemblies move towards each other.

FIG. 8 depicts a positioning mechanism 100 arranged upon a surface 202,which may also be known as a landing surface. In this example, thesurface 202 is modular, and comprises a fixed surface part 202 a and amoveable platform 202 b (depicted with shading). The moveable platform202 b has a substantially flat upper surface and is coplanar with thefixed surface part 202 a in this position. The moveable platform 202 bmay delimit an aperture 204 through which a payload may be collected ordeposited. In some cases it is desirable to position a UAV 200 so thatit is arranged on the moveable platform 202 b and/or arranged above theaperture 204.

For brevity, the positioning mechanism 100 at a first moment in time isnot depicted because it corresponds substantially that depicted in FIG.2. In the initial, folded configuration, the first and second guideassemblies are arranged on opposite sides of the moveable platform 202b. FIG. 8 therefore depicts the positioning mechanism 100 at a second,later moment in time. At this time, the UAV 200 has landed, or otherwisebeen placed upon the surface 202 in an area between the first and secondguide assemblies. The UAV 200 may therefore be said to be initiallylocated in a first position (also known as a landing position). At thistime, the positioning mechanism 100 has started to execute a positioningprocedure to relocate the UAV 200. The UAV may begin the procedure inthe same or different way to that described in relation to the firstembodiment.

As can be seen, the first and second guide assemblies have begun tounfold. To unfold, the drive system has caused the second ends 102 b,104 b of the first and second parts 102, 104 to move towards the secondguide assembly by causing the parts to rotate away from the firstsupport 106. Similarly, the drive system has caused the second ends 108b, 110 b of the third and fourth parts 108, 110 to move towards thefirst guide assembly by causing the parts to rotate away from the secondsupport 112. These rotational movements may be effectuated by one ormore actuators 118 (not shown in FIG. 8) or by any other means. Thesesteps may be executed before, during or after movement of the firstsupport 106 and second support 112. Movement of the first, second, thirdand fourth parts 102, 104, 108, 110 is substantially similar to thatdescribed in relation to FIG. 3.

From this position, the drive system is configured to move the first andsecond guide assemblies towards each other. FIG. 9 depicts thepositioning mechanism 100 at a third, later moment in time. At thistime, the first and second guide assemblies have now fully unfolded in away substantially similar to that described in relation to FIG. 4. Inaddition, the drive system has begun to move the first guide assembly inthe first direction towards the second guide assembly by causing thefirst, moveable support 106 to move along the first axis 114 in thefirst direction. Similarly, the drive system has begun to move thesecond guide assembly in the second direction towards the first guideassembly by causing the second, moveable support 112 to move along thefirst axis 114 in the second direction. Movement of the moveablesupports 106, 112 therefore cause the first and second guide assembliesto move towards each other.

As previously mentioned, the vertical offset of the guide rails 128,130, 132, 134 allows the first guide assembly to pass above/below thesecond guide assembly. FIG. 9 shows the first portion 120 crossing overthe third portion 124 and the second portion 122 crossing over thefourth portion 126. This allows the first and second guide assemblies tomore closely come together.

In the position shown in FIG. 9, the second guide assembly has abuttedand therefore come into contact with the UAV 200. The angled nature ofthe third and fourth parts 108, 110 and the movement in the seconddirection funnels or guides the UAV 200 towards the center of the secondsupport 112. This guiding occurs when the UAV is not positionedcentrally upon the surface 202 as measured along the second axis 116.The angled nature and combined movement in the second direction alsocauses the UAV 200 to rotate so that the surfaces of the body of the UAVare aligned with the third and fourth parts 108, 110. It should be notedhowever that rotation may not necessarily occur if the body of the UAV200 is shaped differently to that depicted here. FIG. 9 therefore showsthe UAV 200 in a slightly different position to that shown in FIG. 8because the UAV 200 has contacted the second guide assembly and hasbegun its trajectory towards a second, lowering, position depicted inFIG. 10.

FIG. 10 depicts the positioning mechanism 100 at a fourth, later momentin time. As can be seen, the first and second guide assemblies havemoved as far as they can. Further movement is restricted by the UAV 200and/or the size constraints of the positioning mechanism 100, such asthe guide rails. The UAV 200 may therefore be said to be located in asecond position. Regardless of where on the surface 202 the UAV 200 waslocated initially, the second position will always be the same. Thesecond position is therefore a known position because it is constant foreach positioning event.

To move the UAV 200 into this second position, the drive system hadcontinued to move the first and second guide assemblies towards eachother so that the UAV is guided towards the second position. In thissecond position, the UAV 200 may abut both the first and second guideassemblies. In some examples, the first support 106 (and therefore thefirst guide assembly) stops moving in the first direction when eitherthe first or second arms reach the end of the first and second guiderails 128, 130 respectively. Similarly, the second support 112 (andtherefore the second guide assembly) stops moving in the seconddirection when the third or fourth arms reach the end of the third andfourth guide rails 132, 134 respectively. In some examples, the drivesystem actively causes the first and second guide assemblies to stopmoving. For example, the drive system may be configured to stop once ithas moved the guide assemblies by a certain distance, or it may stop themovement in response to a signal. For example, one or more sensors maydetect that the UAV 200 has been moved into the second position andbased on sensor data, the drive system may stop the movement.

Once in this second position, the UAV 200 is positioned upon themoveable platform 202 b. The second position may therefore also be knownas a lowering position because the moveable platform 202 b may beconfigured to lower the platform 202 b in a vertical direction below therest of the landing surface 202. Before the platform is lowered, thedrive system may move the first and second guide assemblies away fromeach other. FIG. 11 depicts the positioning mechanism 100 at a fifth,later moment in time. As can be seen, the first and second guideassemblies have moved in opposite directions, away from each other so asnot to obstruct the UAV 200 from moving below the landing surface 202while positioned on the moveable platform 202 b.

FIGS. 12 and 13 relate to a third operational embodiment of thepositioning mechanism of FIG. 1. In this third embodiment, only thefirst guide assembly moves and the surface 202 is different to thatdepicted in the first and second embodiments. The positioning mechanismin this example may be incorporated within a stowage area of a droneport/container, or be positioned on top of a drone port/container.

FIG. 12 depicts a positioning mechanism 100 arranged upon a surface 202,which may also be known as a landing surface. In this example, thesurface 202 delimits an aperture 204 through which a payload may becollected or deposited. In some cases it is desirable to position a UAV200 so that it is arranged above the aperture 204.

For brevity, the positioning mechanism 100 at a first moment in time isnot depicted because it corresponds substantially that depicted in FIG.2. In the initial, folded configuration, the first and second guideassemblies are arranged on opposite sides of the aperture 204. FIG. 12therefore depicts the positioning mechanism 100 at a second, latermoment in time. At this time, the UAV 200 has landed, or otherwise beenplaced upon the surface 202 in an area between the first and secondguide assemblies. The UAV 200 may therefore be said to be initiallylocated in a first position (also known as a landing position). At thistime, the positioning mechanism 100 has started to execute a positioningprocedure to relocate the UAV 200. The UAV may begin the procedure inthe same or different way to that described in relation to the firstembodiment.

As can be seen, the first and second guide assemblies have begun tounfold. To unfold, the drive system has caused the second ends 102 b,104 b of the first and second parts 102, 104 to move towards the secondguide assembly by causing the parts to rotate away from the firstsupport 106. Similarly, the drive system has caused the second ends 108b, 110 b of the third and fourth parts 108, 110 to move towards thefirst guide assembly by causing the parts to rotate away from the secondsupport 112. These rotational movements may be effectuated by one ormore actuators 118 (not shown in FIG. 8) or by any other means. Thesesteps may be executed before, during or after movement of the firstsupport 106. Movement of the first, second, third and fourth parts 102,104, 108, 110 is substantially similar to that described in relation toFIG. 3.

From this position, the drive system is configured to move the firstguide assembly towards the second guide assembly to move the UAV 200towards the second guide assembly and therefore towards a secondposition located above the aperture 204. FIG. 13 depicts the positioningmechanism 100 at a third, later moment in time. At this time, the firstand second guide assemblies have now fully unfolded in a waysubstantially similar to that described in relation to FIG. 4. Inaddition, the drive system has moved the first guide assembly in thefirst direction towards the second guide assembly by causing the first,moveable support 106 to move along the first axis 114 in the firstdirection. This movement caused the UAV 200 to be guided and moved fromthe initial, first position shown in FIG. 12, towards a second position.Intermediate steps showing the first guide assembly abutting the UAV 200have been omitted for brevity.

As previously mentioned, the vertical offset of the guide rails 128,130, 132, 134 allows the first guide assembly to pass above/below thesecond guide assembly. FIG. 13 shows the first part 102 crossing overthe third part 108 and the second part 104 crossing over the fourth part110. This allows the first and second guide assemblies to more closelycome together.

In the position shown in FIG. 13, the second guide assembly has alsoabutted and therefore come into contact with the UAV 200. The anglednature of the first, second, third and fourth arms and the movement inthe first direction funnels or guides the UAV 200 towards the secondposition.

FIG. 13 depicts the first guide assembly in its furthest achievableposition along the first axis 114. Further movement is restricted by theUAV 200 and/or the size constraints of the positioning mechanism 100,such as the guide rails. In some examples, the first support 106 (andtherefore the first guide assembly) stops moving in the first directionwhen either the first or second arms reach the end of the first andsecond guide rails 128, 130 respectively. In some examples, the drivesystem actively causes the first guide assembly to stop moving. Forexample, the drive system may be configured to stop once it has movedthe guide assembly by a certain distance, or it may stop the movement inresponse to a signal. For example, one or more sensors may detect thatthe UAV 200 has been moved into the second position and based on sensordata, the drive system may stop the movement. Once in this secondposition, the UAV 200 is positioned above the aperture 204. After movingthe UAV 200 into this second position, the drive system may cause thefirst guide assembly to move in the second direction, away from the UAV200.

In any or all of the above embodiments, a UAV/drone delivery system maybe used to store, process and deploy UAVs for package deliveries. Insome embodiments, one or more UAVs are stored in or on a structure, suchas on top of a container (e.g., a mobile trailer). One benefit ofstoring the UAVs at these structures is that it reduces the timenecessary to task a UAV to process an order and receive a package fordelivery. For instance, when the exemplary system receives a command todeliver a package, one of the UAVs placed on top of a container isprocessed to attach the package to the UAV. The processing of the UAVsmay be automated to reduce processing time. For example, during theprocessing operation, a UAV's battery may be automatically swapped witha fully charged battery. The UAV is deployed for delivery when theexemplary system has processed the UAV. Thus, the UAV delivers goodsinstantaneously, for example, within a few minutes or hours from thetime a consumer places an order.

FIG. 14 depicts an example UAV delivery system 300. The exemplary systemincludes a container with a roof 302, a base, and multiple side surfaces304 located between the roof and the base to enclose the container.Other example UAV delivery systems may comprise different shaped orsized containers. In some examples, the container may include wheels 306to transport the container. In some examples, the UAV delivery system300 can be located and transported to different locations. In someexamples, the UAV delivery system 300 is communicably connected with oneor more remote computing systems. For example, the UAV delivery system300 may communicate with one or more remote servers and/or remoteoperators to transmit information about flight data, maintenance,security, package orders, etc.

In the example of FIG. 14, the roof forms, or has thereon a surface. Thesurface may be substantially similar to that described in any of FIGS.2-13. For example, it may comprise a fixed surface part 202 a, amoveable platform 202 b and an aperture 204. Alternatively, the surfacemay be a fixed solid surface. In examples where the surface comprises amoveable platform 202 b, the platforms may be moved within the containerin a generally vertical direction. When the platform 202 b is in anupper position (as shown in FIG. 14), the top of the platform 202 b islevel/flush with the top of the container roof 302. When the platform202 b is in a lowered position, the platform 202 b may be programmed tostop at some height above the base of the container. The platform 202 bmay stop at some height above the base to allow the UAV located on theplatform 202 b to lower a cable including an attachment, such as alocking mechanism or a dongle, to attach to a package that is locatedbelow the platform 202 b. The cable and/or package may pass through theaperture 204. The aperture 204 may therefore be sized to receive apackage. The aperture may be closeable, and therefore initially becovered/closed by at least one member, such as a panel that can beopened. These members can protect the various components inside thecontainer from dirt, debris, and weather. The platform may be lowered byany means.

Arranged upon or above the surface may be a positioning mechanism 100like those described in relation to FIGS. 2-13. The UAV may thereforeland on the surface and be positioned by the positioning mechanism 100.

FIG. 15 depicts a side view of the UAV delivery system 300 of FIG. 14. AUAV 200 has landed on the surface 202 and has been positioned by apositioning mechanism (not shown in FIG. 15) upon the moveable platform202 b. The platform 202 b may be lowered into the container by movingone or more bars 308. The bars 308 may be telescopic, for example, andcan retract in length to move the platform 202 b into the container. Thedrive system may control the lowering and raising of the moveableplatform 202 b. For example, the controller may instruct or cause thebars 308 to operate once the UAV 200 has been positioned correctly uponthe moveable platform 202 b. A package 310, requiring delivery by thedrone, is shown depicted upon a loading surface 312.

The aperture 204 is shown to be closed by one or more members 314. Theone or more members are therefore in a closed configuration and formpart of the landing surface 202 in FIG. 15. The drive system is arrangedto move the one or more members into an open configuration so as to notobstruct the aperture.

FIG. 16 shows the moveable platform 202 b in a lowered position. Thebars 308 have retracted in length such that the platform 202 b islocated within the container. The one or more members 314 have also beenmoved into an open configuration by the drive system. For example, theone or more members 314 have been withdrawn into a compartment withinthe moveable platform 202 b, so that the aperture is accessible. Inanother example, one or more members 314 may act like a trapdoor andtherefore be hinged with respect to the moveable platform. A couplingmechanism, attached to one end of a tether, has been lowered from acompartment within the UAV 200 to engage the package 310. FIG. 16therefore shows the package 310 as it is being lifted through theaperture before being received within the UAV compartment. Once receivedwithin the UAV compartment, the platform may be raised again to allowthe UAV 200 to take flight and deliver the package 310 to a destination.

The above embodiments are to be understood as illustrative examples.Further embodiments are envisaged. For example, the lower recess andcorresponding sensor device may be located at any point along the lengthof the padding, and so is not necessarily located within the mountingsection portion. It is to be understood that any feature described inrelation to any one embodiment may be used alone, or in combination withother features described, and may also be used in combination with oneor more features of any other of the embodiments, or any combination ofany other of the embodiments. Furthermore, equivalents and modificationsnot described above may also be employed without departing from thescope of the disclosure, which is defined in the accompanying claims.

What is claimed is:
 1. A UAV positioning mechanism for moving a UAV froma first position to a third position via a second position, comprising:a first guide assembly comprising: a first part having a first retainingmember connected thereto; and a second part having a second retainingmember connected thereto; a second guide assembly spaced apart from thefirst guide assembly, wherein the first and second guide assembliesdefine therebetween an area for receiving a UAV; and a drive system formoving the first guide assembly in a first direction and a seconddirection; wherein the drive system is arranged to: move the first guideassembly in the first direction towards the second guide assembly, suchthat the first part and the second part guide the UAV from a firstposition to a second position; and move the first guide assembly in thesecond direction to move the UAV from the second position to a thirdposition; wherein the first and second retaining members are arrangedto: engage the UAV when the UAV is positioned at the second positionsuch that the UAV moves with the first guide assembly in the seconddirection to the third position.
 2. The UAV positioning mechanism ofclaim 1, wherein: the first guide assembly comprises a movable support;the first part has a first end and a second end, and the first end ofthe first part is mounted on the movable support; the second part has afirst end and a second end, and the first end of the second part ismounted on the movable support; and the drive system is arranged to:move the second ends of the first and second parts towards the secondguide assembly; and move the moveable support towards the second guideassembly.
 3. The UAV positioning mechanism of claim 2, wherein the firstends of the first and second parts are pivotably mounted on the moveablesupport, and the drive system comprises: a first actuator arranged topivot the second end of the first part towards the second guideassembly; and a second actuator arranged to pivot the second end of thesecond part towards the second guide assembly.
 4. The UAV positioningmechanism of any preceding claim, wherein the first retaining member ispivotably mounted on the first part, and the second retaining member ispivotably mounted on the second part, and the drive system is arrangedto pivot the first and second retaining members between a firstconfiguration and a second configuration, wherein: in the firstconfiguration, the first and second retaining members are arrangedsubstantially parallel to the first and second parts, respectively; andin the second configuration, the first and second retaining membersdefine an angle between the first and second parts, respectively.
 5. TheUAV positioning mechanism of any of claims 2 to 4, wherein the firstguide assembly further comprises first and second portions connected tothe first and second parts respectively via one or more hinges, whereinthe first and second portions are arranged to hinge as the second endsof the first and second parts move towards the second guide assembly. 6.The UAV positioning mechanism of claim 5, wherein the first guideassembly further comprises: a first guide rail; and a second guide railarranged substantially parallel to, and spaced apart from, the firstguide rail; wherein: an end of the first portion is slidably mounted onthe first guide rail, such that the first portion moves along the firstguide rail as the drive system moves the first guide assembly in thefirst and second directions; and an end of the second portion isslidably mounted on the second guide rail, such that the second portionmoves along the second guide rail as the drive system moves the firstguide assembly in the first and second directions.
 7. The UAVpositioning mechanism of any preceding claim, wherein the second guideassembly comprises: a second support; a third part; and a fourth part;wherein: the third part has a first end and a second end, and the firstend of the third part is mounted on the second support; the fourth parthas a first end and a second end, and the first end of the fourth partis mounted on the second support; the third and fourth parts arearranged to guide the UAV towards the second position; and the drivesystem is arranged to move the second ends of the third and fourth partstowards the first guide assembly.
 8. The UAV positioning mechanism ofclaim 7, wherein the first ends of the third and fourth parts arepivotably mounted on the second support, and the drive system comprises:a third actuator arranged to pivot the second end of the third parttowards the first guide assembly; and a fourth actuator arranged topivot the second end of the fourth part towards the first guideassembly.
 9. The UAV positioning mechanism of claim 7 or 8, wherein: thesecond guide assembly is spaced apart from the first guide assemblyalong a first axis and the area extends along at least the first axisand a second axis, the second axis being perpendicular to the firstaxis; the first guide assembly is spaced apart from the second guideassembly along a third axis, the third axis being perpendicular to boththe first axis and the second axis; and when the drive system moves thefirst guide assembly in the first direction towards the second guideassembly, the first part is spaced apart from the third part along thethird axis and the second part is spaced apart from the fourth partalong the third axis when the UAV is located at the second position. 10.The UAV positioning mechanism of any of claims 7 to 9, wherein thesecond guide assembly further comprises third and fourth portionsconnected to the third and fourth parts respectively via one or morehinges, wherein the third and fourth portions are arranged to hinge asthe second ends of the third and fourth parts move towards the firstguide assembly.
 11. The UAV positioning mechanism of any precedingclaim, further comprising a moveable platform capable of forming atleast part of a surface for receiving the UAV, wherein the first andsecond positions are positions on the surface, and the third position isa position on the platform; and the drive system is arranged to lowerthe platform along an axis arranged perpendicular to a plane defined bythe platform, thereby to lower the UAV with respect to the surface. 12.The UAV positioning mechanism of claim 11, wherein the platform delimitsan aperture through which to receive or deposit a payload.
 13. The UAVpositioning mechanism of claim 12, wherein the aperture is closable. 14.The UAV positioning mechanism of any of claims 11 to 13, wherein thedrive system is arranged to: move the first and second guide assembliesaway from each other before lowering the platform.
 15. A UAV transportmechanism for moving a UAV after landing on a landing surface,comprising: a moveable platform capable of forming at least part of thelanding surface; a first guide assembly; a second guide assembly,wherein the first and second guide assemblies are arranged on oppositesides of the moveable platform; and a drive system, arranged to: movethe first and second guide assemblies towards each other, thereby toguide the UAV from a first, landing, position to a second, lowering,position, the second position being a position on the platform; andlower the platform to lower the UAV with respect to the landing surface.16. The UAV transport mechanism of claim 15, wherein the platformdelimits an aperture through which to receive or deposit a payload. 17.The UAV transport mechanism of claim 16, wherein the aperture isclosable.
 18. The UAV transport mechanism of any of claims 15 to 17,wherein the drive system is arranged to: move the first and second guideassemblies away from each other before lowering the platform.
 19. TheUAV transport mechanism of any of claims 15 to 18, wherein the landingsurface comprises a fixed surface part, and wherein the platform has aflat upper surface and is positionable to be generally coplanar withrespect to the fixed surface part.
 20. The UAV transport mechanism ofany of claims 15 to 19, wherein: the first guide assembly comprises: afirst moveable support; a first part having a first end and a secondend, the first end of the first part being mounted on the first moveablesupport; and a second part having a first end and a second end, thefirst end of the second part being mounted on the first moveablesupport; and the second guide assembly comprises: a second moveablesupport; a third part having a first end and a second end, the first endof the third part being mounted on the second moveable support; and afourth part having a first end and a second end, the first end of thefourth part being mounted on the second moveable support; and the drivesystem is further arranged to: move the second ends of the first andsecond parts towards the second guide assembly; and move the second endsof the third and fourth parts towards the first guide assembly.
 21. TheUAV transport mechanism of claim 20, wherein the first ends of the firstand second parts are pivotably mounted on the first moveable support,and the first ends of the third and fourth parts are pivotably mountedon the second moveable support, and the drive system comprises: one ormore actuators arranged to pivot the second ends of the first and secondparts towards the second guide assembly and to pivot the second ends ofthe third and fourth parts towards the first guide assembly.
 22. The UAVtransport mechanism of claim 20 or 21, further comprising first, second,third and fourth portions connected to the first, second, third andfourth parts respectively via one or more hinges, wherein the first andsecond portions are arranged to hinge as the second ends of the firstand second parts move towards the second guide assembly and wherein thethird and fourth portions are arranged to hinge as the second ends ofthe third and fourth parts move towards the first guide assembly. 23.The UAV transport mechanism of claim 22, wherein the first guideassembly further comprises: a first guide rail; and a second guide railarranged substantially parallel to, and spaced apart from the firstguide rail; wherein: an end of the first portion is slidably mounted onthe first guide rail, such that the first portion moves along the firstguide rail as the drive system moves the first guide assembly towardsthe second guide assembly; and an end of the second portion is slidablymounted on the second guide rail, such that the second portion movesalong the second guide rail as the drive system moves the first guideassembly towards the second guide assembly.
 24. The UAV transportmechanism of claim 23, wherein the second guide assembly furthercomprises: a third guide rail arranged substantially parallel to thefirst guide rail; and a fourth guide rail arranged substantiallyparallel to, and spaced apart from the third guide rail; wherein: thethird guide rail is spaced apart from the first guide rail along an axisarranged perpendicular to a plane defined by the platform; the fourthguide rail is spaced apart from the second guide rail along the axis; anend of the third portion is slidably mounted on the third guide rail,such that the third portion moves along the third guide rail as thedrive system moves the second guide assembly towards the first guideassembly; and an end of the fourth portion is slidably mounted on thefourth guide rail, such that the fourth portion moves along the fourthguide rail as the drive system moves the second guide assembly towardsthe first guide assembly.
 25. A UAV positioning mechanism for moving aUAV across a surface, comprising: a surface for receiving a UAV, whereinat least a portion of the surface delimits an aperture through which toreceive or deposit a payload; a first guide assembly; a second guideassembly, wherein the first and second guide assemblies are arranged onopposite sides of the aperture; and a drive system, arranged to: movethe first guide assembly towards the second guide assembly, thereby toguide the UAV from a first position to a second position, the secondposition being a position arranged above the aperture.